抗积分饱和PID控制算法进行离散系统阶跃响应

%PID Controler with intergration sturation clear all; close all; ts=0.001; sys=tf(5.235e005,[1,87.35,1.047e004,0]); dsys=c2d(sys,ts,'z'); [num,den]=tfdata(dsys,'v'); u_1=0.0;u_2=0.0;u_3=0.0; y_1=0;y_2=0;y_3=0; x=[0,0,0]'; error_1=0; um=6; kp=0.85;ki=9.0;kd=0.0; rin=30; %Step Signal for k=1:1:800 time(k)=k*ts; u(k)=kp*x(1)+kd*x(2)+ki*x(3); % PID Controller if u(k)>=um u(k)=um; end if u(k)<=-um u(k)=-um; end %Linear model yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(2)*u_1+num(3)*u_2+num(4)*u_3; error(k)=rin-yout(k); M=2; if M==1 %Using intergration sturation if u(k)>=um if error(k)>0 alpha=0; else alpha=1; end elseif u(k)<=-um if error(k)>0 alpha=1; else alpha=0; end else alpha=1; end elseif M==2 %Not using intergration sturation alpha=1; end %Return of PID parameters u_3=u_2;u_2=u_1;u_1=u(k); y_3=y_2;y_2=y_1;y_1=yout(k); error_1=error(k); x(1)=error(k); % Calculating P x(2)=(error(k)-error_1)/ts; % Calculating D x(3)=x(3)+alpha*error(k)*ts; % Calculating I xi(k)=x(3); end figure(1); subplot(311); plot(time,rin,'b',time,yout,'r'); xlabel('time(s)');ylabel('Position tracking'); subplot(312); plot(time,u,'r'); xlabel('time(s)');ylabel('Controller output'); subplot(313); plot(time,xi,'r'); xlabel('time(s)');ylabel('Integration');